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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>Use this class to create an instance of a TCM2 subclass and connect to the device based on program command line options.  
 <a href="classArCompassConnector.html#details">More...</a></p>

<p><code>#include &lt;ArTCM2.h&gt;</code></p>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>ArCompassConnector</b> (<a class="el" href="classArArgumentParser.html">ArArgumentParser</a> *argParser)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>connect</b> (<a class="el" href="classArTCM2.html">ArTCM2</a> *) const </td></tr>
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<a class="el" href="classArTCM2.html">ArTCM2</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>create</b> (<a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
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Protected Types</h2></td></tr>
<tr class="memitem:ad35d1a31c6c2fc156cd96be50cf5e565"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad35d1a31c6c2fc156cd96be50cf5e565"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>DeviceType</b> { <b>Robot</b>, 
<b>SerialTCM</b>, 
<b>None</b>
 }</td></tr>
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Protected Member Functions</h2></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>logOptions</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>parseArgs</b> ()</td></tr>
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Protected Attributes</h2></td></tr>
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<a class="el" href="classArArgumentParser.html">ArArgumentParser</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myArgParser</b></td></tr>
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DeviceType&#160;</td><td class="memItemRight" valign="bottom"><b>myDeviceType</b></td></tr>
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<a class="el" href="classArFunctorC.html">ArFunctorC</a>&lt; <a class="el" href="classArCompassConnector.html">ArCompassConnector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myLogArgsCallback</b></td></tr>
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<a class="el" href="classArRetFunctorC.html">ArRetFunctorC</a>&lt; bool, <a class="el" href="classArCompassConnector.html">ArCompassConnector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myParseArgsCallback</b></td></tr>
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<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myRobot</b></td></tr>
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const char *&#160;</td><td class="memItemRight" valign="bottom"><b>mySerialPort</b></td></tr>
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<a class="el" href="classArFunctor.html">ArFunctor</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>mySerialTCMReadFunctor</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Use this class to create an instance of a TCM2 subclass and connect to the device based on program command line options. </p>
<p>This allows the user of a program to select a different kind of compass configuration (for example, if the compass is connected to a computer serial port, use <a class="el" href="classArTCMCompassDirect.html" title="Talk to a compass directly over a computer serial port. ">ArTCMCompassDirect</a> instead of the normal <a class="el" href="classArTCMCompassRobot.html" title="Interface to a TCM 2/2.5/2.6 3-axis compass through the robot microcontroller. ">ArTCMCompassRobot</a>.)</p>
<p>The following command-line arguments are checked: </p><pre class="fragment">Compass options:
-compassType &lt;robot|serialTCM&gt;	Select compass device type (default: robot)
-compassPort &lt;port&gt;	Serial port for "serialTCM" type compass. (default: /dev/ttyS3)
</pre> <dl><dt><b>Examples: </b></dt><dd><a class="el" href="demo_8cpp-example.html#_a20">demo.cpp</a>.</dd>
</dl></div><hr/>The documentation for this class was generated from the following files:<ul>
<li>ArTCM2.h</li>
<li>ArTCM2.cpp</li>
</ul>
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